diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 1779a712b377711c34e23a7fa15dfe152611cc47..636b567c2345a9f74b66b1422e80e7c846b7b4fb 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -49,7 +49,6 @@ KinematicUnitGuiPlugin::KinematicUnitGuiPlugin()
     addWidget<KinematicUnitWidgetController>();
 }
 
-
 KinematicUnitWidgetController::KinematicUnitWidgetController() :
     kinematicUnitNode(nullptr),
     selectedControlMode(ePositionControl)
@@ -64,7 +63,6 @@ KinematicUnitWidgetController::KinematicUnitWidgetController() :
     ui.tableJointList->setItemDelegateForColumn(eTabelColumnAngleProgressbar, &delegate);
 }
 
-
 void KinematicUnitWidgetController::onInitComponent()
 {
     dirty_squaresum_old.resize(5, 0);
@@ -238,8 +236,6 @@ QPointer<QDialog> KinematicUnitWidgetController::getConfigDialog(QWidget* parent
     return qobject_cast<KinematicUnitConfigDialog*>(dialog);
 }
 
-
-
 void KinematicUnitWidgetController::configured()
 {
     ARMARX_VERBOSE << "KinematicUnitWidget::configured()";
@@ -249,7 +245,6 @@ void KinematicUnitWidgetController::configured()
     topicName = dialog->topicFinder->getSelectedProxyName().toStdString();
 }
 
-
 void KinematicUnitWidgetController::loadSettings(QSettings* settings)
 {
     kinematicUnitFile = settings->value("kinematicUnitFile", QString::fromStdString(KINEMATIC_UNIT_FILE_DEFAULT)).toString().toStdString();
@@ -301,21 +296,15 @@ void KinematicUnitWidgetController::updateGuiElements()
 
 void KinematicUnitWidgetController::modelUpdateCB()
 {
-
 }
 
 SoNode* KinematicUnitWidgetController::getScene()
 {
-    //if(kinematicUnitNode)
-    //    std::cout << "returning scene=" << kinematicUnitNode->getName() << std::endl;
     return rootVisu;
 }
 
-
-
 void KinematicUnitWidgetController::connectSlots()
 {
-
     connect(ui.pushButtonKinematicUnitPos1,  SIGNAL(clicked()), this, SLOT(kinematicUnitZeroPosition()));
 
     connect(ui.nodeListComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectJoint(int)));
@@ -329,12 +318,6 @@ void KinematicUnitWidgetController::connectSlots()
 
     connect(ui.showDebugLayer, SIGNAL(toggled(bool)), this, SLOT(showVisuLayers(bool)), Qt::QueuedConnection);
 
-    /* connect(this, SIGNAL(jointAnglesReported()), this, SLOT(updateJointAnglesTable()), Qt::QueuedConnection);
-     connect(this, SIGNAL(jointVelocitiesReported()), this, SLOT(updateJointVelocitiesTable()), Qt::QueuedConnection);
-     connect(this, SIGNAL(jointTorquesReported()), this, SLOT(updateJointTorquesTable()), Qt::QueuedConnection);
-     connect(this, SIGNAL(jointControlModesReported()), this, SLOT(updateControlModesTable()), Qt::QueuedConnection);
-     connect(this, SIGNAL(jointMotorTemperaturesReported()), this, SLOT(updateJointMotorTemperaturesTable()), Qt::QueuedConnection);
-     */
     connect(this, SIGNAL(jointAnglesReported()), this, SLOT(updateJointAnglesTable()), Qt::QueuedConnection);
     connect(this, SIGNAL(jointVelocitiesReported()), this, SLOT(updateJointVelocitiesTable()), Qt::QueuedConnection);
     connect(this, SIGNAL(jointTorquesReported()), this, SLOT(updateJointTorquesTable()), Qt::QueuedConnection);
@@ -343,7 +326,6 @@ void KinematicUnitWidgetController::connectSlots()
     connect(this, SIGNAL(jointMotorTemperaturesReported()), this, SLOT(updateJointMotorTemperaturesTable()), Qt::QueuedConnection);
     connect(this, SIGNAL(jointStatusesReported()), this, SLOT(updateJointStatusesTable()), Qt::QueuedConnection);
 
-
     connect(ui.tableJointList, SIGNAL(cellDoubleClicked(int, int)), this, SLOT(selectJointFromTableWidget(int, int)), Qt::QueuedConnection);
 }
 
@@ -400,8 +382,6 @@ void KinematicUnitWidgetController::setControlModePosition()
     {
         jointModes[currentNode->getName()] = ePositionControl;
 
-
-
         if (kinematicUnitInterfacePrx)
         {
             kinematicUnitInterfacePrx->switchControlMode(jointModes);
@@ -417,14 +397,17 @@ void KinematicUnitWidgetController::setControlModePosition()
 
         float pos = currentNode->getJointValue() * 180.0 / M_PI;
         ARMARX_INFO << "setting position control for current Node Name: " << currentNode->getName() << " with current value: " << pos;
-        //    ARMARX_INFO << "current joint position of " << currentNode->getName() << ": " << pos;
+
+        // Setting the slider position to pos will set the position to the slider tick closest to pos
+        // This will initially send a position target with a small delta to the joint.
+        ui.horizontalSliderKinematicUnitPos->blockSignals(true);
+
         ui.horizontalSliderKinematicUnitPos->setMaximum(hi);
         ui.horizontalSliderKinematicUnitPos->setMinimum(lo);
-        //        float ticks = (float)(ui.horizontalSliderKinematicUnitPos->maximum() - ui.horizontalSliderKinematicUnitPos->minimum()+1);
-        //        float posT = (pos-lo) / (hi-lo) * ticks + (float)ui.horizontalSliderKinematicUnitPos->minimum();
         ui.horizontalSliderKinematicUnitPos->setSliderPosition((int)(pos));
-    }
 
+        ui.horizontalSliderKinematicUnitPos->blockSignals(false);
+    }
 }
 
 void KinematicUnitWidgetController::setControlModeVelocity()
@@ -668,7 +651,6 @@ void KinematicUnitWidgetController::selectJoint(int i)
         setControlModeTorque();
         ui.horizontalSliderKinematicUnitPos->setSliderPosition(SLIDER_ZERO_POSITION);
     }
-
 }
 
 void KinematicUnitWidgetController::selectJointFromTableWidget(int row, int column)
@@ -704,10 +686,9 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
         //float lo = currentNode->getJointLimitLo();
         //float hi = currentNode->getJointLimitHi();
         //float result = lo + (hi-lo)*perc;
-
+        //jointAngles[currentNode->getName()] = (perc - 0.5) * 2 * M_PI;
 
         NameValueMap jointAngles;
-        //        jointAngles[currentNode->getName()] = (perc - 0.5) * 2 * M_PI;
         jointAngles[currentNode->getName()] = value / 180.0 * M_PI;
 
         if (kinematicUnitInterfacePrx)
@@ -773,14 +754,14 @@ void KinematicUnitWidgetController::updateControlModesTable()
 
             switch (currentMode)
             {
-                /*case eNoMode:
-                    state = "None";
-                    break;
-
-                case eUnknownMode:
-                    state = "Unknown";
-                    break;
-                */
+                    /*case eNoMode:
+                        state = "None";
+                        break;
+
+                    case eUnknownMode:
+                        state = "Unknown";
+                        break;
+                    */
                 case eDisabled:
                     state = "Disabled";
                     break;
@@ -1103,7 +1084,7 @@ void KinematicUnitWidgetController::reportControlModeChanged(const NameControlMo
     //        return;
     boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
 
-    for (auto& e : jointModes)
+    for (auto & e : jointModes)
     {
         //        ARMARX_INFO << "Setting jointMode of joint " << e.first << " to " << e.second;
 
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 07a887ab5b5a0b13a57d65dcf6280d695224b273..6c248994f988b044802ef130c7a0cd078217995a 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -286,8 +286,6 @@ namespace armarx
          */
         static const int SLIDER_ZERO_POSITION = 0;
 
-
-
         /**
          * @brief Returns values in
          * (-ui.jitterThresholdSpinBox->value(),ui.jitterThresholdSpinBox->value())